Haptic teleoperations play a key role in extending human capabilities to perform complex tasks remotely, employing a robotic system. The impact of haptics is far-reaching and can improve the sensory awareness and motor accuracy of the operator. In this context, a key challenge is attaining a natural, stable and safe haptic human-robot interaction. Achieving these conflicting requirements is particularly crucial for complex procedures, e.g. medical ones. To address this challenge, in this work we develop a novel haptic bilateral teleoperation system (HBTS), featuring a virtualized force feedback, based on the motion error generated by an admittance controlled robot. This approach allows decoupling the force rendering system from the control of the interaction: the rendered force is assigned with the desired dynamics, while the admittance control parameters are separately tuned to maximize interaction performance. Furthermore, recognizing the necessity to limit the forces exerted by the robot on the environment, to ensure a safe interaction, we embed a saturation strategy of the motion references provided by the haptic device to admittance control. We validate the different aspects of the proposed HBTS, through a teleoperated blackboard writing experiment, against two other architectures. The results indicate that the proposed HBTS improves the naturalness of teleoperation, as well as safety and accuracy of the interaction.

翻译：触觉遥操作在通过机器人系统远程执行复杂任务中发挥着关键作用，它能显著增强操作者的感知能力和运动精度。在此背景下，实现自然、稳定且安全的触觉人机交互成为核心挑战。对于医疗等复杂操作场景，调和这些相互矛盾的需求尤为重要。为应对这一挑战，本文开发了一种新型触觉双边遥操作系统（HBTS），该系统基于导纳控制机器人产生的运动误差，创新性地引入力反馈虚拟化技术。该方法实现了力呈现系统与交互控制的解耦：赋予呈现力以期望的动态特性，同时独立调节导纳控制参数以最大化交互性能。此外，为保障交互安全，我们还在导纳控制中嵌入了触觉设备运动参考的饱和限制策略，以约束机器人施加于环境的力。通过黑板书写遥操作实验，将所提HBTS与另两种架构进行对比验证。结果表明，所提HBTS有效提升了遥操作的自然性、交互安全性及操作精度。